Driving to work when i felt a loss of power. pushing my throttle peddle to the floor hardly any power.

notice that ESP light stayed on and the EML will flash for a bit then turn off

the car tends to shake and sounds like the exhaust has changed tones (sounds like i got a turbo or diesel, Oil levels and water levels are normal) i have checked the engine bay and no hole in any of pipes or any leaks.

i think the car has gone into limp mode, but not to sure ? has anyone else experienced this ???